CN106773489B - A kind of optical projection apparatus and depth camera - Google Patents
A kind of optical projection apparatus and depth camera Download PDFInfo
- Publication number
- CN106773489B CN106773489B CN201710026347.7A CN201710026347A CN106773489B CN 106773489 B CN106773489 B CN 106773489B CN 201710026347 A CN201710026347 A CN 201710026347A CN 106773489 B CN106773489 B CN 106773489B
- Authority
- CN
- China
- Prior art keywords
- light
- projection apparatus
- optical projection
- optical
- pattern
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
- G03B21/20—Lamp housings
- G03B21/2066—Reflectors in illumination beam
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4205—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
- G03B21/20—Lamp housings
- G03B21/2006—Lamp housings characterised by the light source
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of optical projection apparatus, which includes：Light source, for emitting light beam；Light-dividing device, for receiving light beam that light source is emitted and being beamed into multiple beamlets；Pattern maker, for receiving multiple beamlets and outward emitting structural light beam pattern respectively.The device can also include reflection unit, and reflection unit is for reflecting an at least beamlet to change the direction of the launch of beamlet.It is acted on by the reflection and transmission of light-dividing device, by the beam splitter of light source transmitting at multiple beamlets, beamlet forms structure light light beam again after pattern maker diffraction and emits outward；Or portions pass is first reflected through reflection unit, then emit outward through pattern maker.By the device, the drop shadow spread of hair structure light can be expanded, to be conducive to it is small by device volume, at low cost in a manner of realize big visual field.By the collective effect of light-dividing device and reflection unit, the direction of multiple beamlets can be made to be emitted towards arbitrary required direction.
Description
Technical field
The present invention relates to optics and electronic technology field more particularly to a kind of optical projection apparatus and include the optical projection
The depth camera of device.
Background technology
The depth information that depth camera can obtain target realizes 3D scannings, scene modeling, gesture interaction whereby, and current
The RGB camera being widely used is compared, and depth camera is just gradually paid attention to by all trades and professions.Depth based on structured light technique
The advantages that camera is due at low cost, precision and high resolution, the development of most widely used and technology are the most ripe.Although such as
This, structure light depth camera is also faced with some and waits for further solving the problems, such as, such as smaller (the universal horizontal field of view angle of visual field
At 50~60 degree), measurement range limited (0.5~6m) etc..
It carries out indoor positioning in some specific applications, such as using depth camera and draws, since visual field is smaller, phase
Than with possess 360 degree of visual angles laser radar for, draw map of the same area and then need to take more time, and into
Row map will consume larger calculation amount when splicing.Such issues that solution, can lead so often by means of multiple depth cameras
Overall cost increase, volume is caused to become larger, the in addition calibration between different cameral is also more troublesome.
Invention content
To solve the above problems, the present invention provides a kind of optical projection apparatus of multidirectional transmitting, hair structure light can be expanded
Drop shadow spread measures to be advantageously implemented the depth information with multiple functions such as big visual fields.
The present invention provides a kind of optical projection apparatus, which is characterized in that the optical projection apparatus includes：
Light source, for emitting light beam；
Light-dividing device, for receiving light beam that light source is emitted and being beamed into multiple beamlets；
Pattern maker, for receiving the multiple beamlet and outward emitting structural light beam pattern respectively.
Preferably, light-dividing device includes one or more of spectroscope, plane mirror, prism, the multiple beamlet packet
Include the reflex through light-dividing device and the reflected beamlet and transmission beamlet of transmission effect beam splitting.
Preferably, the optical projection apparatus further includes lens, and the lens are for collimating the light beam or the sub-light
Beam.
Further preferably, the lens are arranged with the pattern maker on similar and different optical element.
Preferably, the optical projection apparatus further includes：Reflection unit, the reflection unit is for reflecting at least one institute
Beamlet is stated to change the direction of the launch of the beamlet.
Further preferably, the reflection unit is arranged with the light-dividing device on similar and different optical element.
Further preferably, the light-dividing device and the reflection unit are by least two beamlets in multiple beamlets
Emit in the opposite direction.
Preferably, the light source is VCSEL light source or VCSEL array light source, and the VCSEL array light source is with certain figure
Case arranges on a semiconductor substrate.
Preferably, the pattern maker includes diffraction optical element (DOE).
Preferably, the different pattern makers emits the structure light beam pattern of different densities outward.
Preferably, at least two in the pattern maker are located at the corresponding flat of the optical projection apparatus
On, emitting structural light pattern in a reverse direction.
Preferably, the different structure light beam patterns possesses different light intensity.
Preferably, the optical projection apparatus further includes：Optical aperture, the optical aperture are a pair of with pattern maker one
It answers and for controlling the luminous flux that the beamlet emits outward.
The present invention also provides a kind of depth camera, the depth camera includes：Any optical projection apparatus as described above,
For with multiple optical ports into space projection structure light beam image；Image collecting device, for acquiring the institute in object space
State structured light beam images；Processing unit receives the structured light beam images acquired by described image harvester and according to institute
State the depth image that structured light beam images generate the object space.
Preferably, the quantity of described image harvester is consistent with the optical port quantity or is less than the optical port quantity；Institute
It is according to the relative position relation of described image harvester that acquisition is corresponding with described image harvester to state processing unit
Several described depth images carry out being fused into a width overall depth image.
Preferably, the depth camera further includes controller, the controller and optical aperture and image collecting device phase
Even, whether folding and correspondence image harvester for controlling the optical aperture carry out Image Acquisition, so that described
Depth camera acquires opposite depth image for specific application scenarios.
Preferably, the application scenarios include close, distance measuring pattern, and under the close/distance measuring pattern, controller is beaten
The aperture for close/distance measuring and image collecting device are opened, other apertures and image collecting device are closed.
Under low coverage measurement pattern, the controller is in for the optical aperture and image collecting device of low coverage measurement and beats
Open state, other optical apertures and image collecting device are closed；Under distance measuring pattern, the controller is used for
The optical aperture and image collecting device of distance measuring are in the open state, other optical apertures and image collecting device are in and close
Closed state.
Preferably, the application scenarios include hybrid measurement pattern, and the mixing is away under measurement pattern, and controller is with certain
Frequency interval open aperture and image collecting device for close/distance measuring, close other apertures and Image Acquisition
Device.
Preferably, the application scenarios include narrow/wide visual field test pattern, under the narrow/wide visual field measurement pattern, control
Device opens the aperture measured for narrow/wide visual field and image collecting device, closes other apertures and image collecting device.
Under narrow visual field measurement pattern, at the optical aperture and image collecting device that the controller is measured for narrow visual field
In opening state, other optical apertures and image collecting device are closed；Under wide visual field measurement pattern, the control
Optical aperture and image collecting device of the device for wide visual field measurement are in the open state, other optical apertures and image collector
It sets and is closed.
Preferably, the application scenarios include it is forward and backward set measurement pattern, it is described it is front/rear set under measurement pattern, controller is beaten
It opens for the front/rear aperture for setting measurement and image collecting device, closes other apertures and image collecting device.
Under preposition measurement pattern, the controller is in for the optical aperture and image collecting device of preposition measurement and beats
Open state, other optical apertures and image collecting device are closed；Under postposition measurement pattern, the controller is used for
The optical aperture and image collecting device that postposition measures are in the open state, other optical apertures and image collecting device are in and close
Closed state.
The present invention also provides a kind of terminal, the terminal includes any depth camera as above；The terminal includes
Mobile terminal and fixed terminal.
Beneficial effects of the present invention：Optical projection apparatus provided by the invention is made by the reflection and transmission of light-dividing device
With by the beam splitter of light source transmitting at multiple beamlets, beamlet forms structure light light beam after pattern maker diffraction again
Transmitting outward.By the device, the drop shadow spread of hair structure light can be expanded, it is small with device volume, at low cost to be conducive to
Mode realizes big visual field.
More advantages can also be obtained in further preferred embodiment：By reflection unit, by the launch party of beamlet
To being changed；Under the collective effect of light-dividing device and reflection unit, the light beam that light source emits can be split, and make
The direction of multiple beamlets is emitted towards arbitrary required direction, such as identical direction, opposite direction.By not
Same pattern maker emits the structure light beam pattern of different densities outward, or is possessed by different structure light beam patterns
Different light intensity, it can be achieved that different distance (remote, close) object projection.By the folding effect of optical aperture, it can be achieved that different
The projection of application scenarios, such as：Closely, long distance projects, hybrid projection, the projection of narrow/wide visual field, same, different directions projection.
Description of the drawings
Fig. 1 is the optical projection apparatus schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the optical projection apparatus schematic diagram of the embodiment of the present invention 2；
Fig. 3 is the optical projection apparatus schematic diagram of the embodiment of the present invention 3；
Fig. 4 is the optical projection apparatus schematic diagram of the embodiment of the present invention 4；
Fig. 5 is the optical projection apparatus schematic diagram of the embodiment of the present invention 5；
Fig. 6 is the mobile phone schematic diagram of the build-in depths camera of the embodiment of the present invention 5；
Fig. 7 is the optical projection apparatus schematic diagram of the embodiment of the present invention 6；
Fig. 8 is the optical projection apparatus schematic diagram of the embodiment of the present invention 7.
Specific implementation mode
The present invention proposes a kind of optical projection apparatus and the depth camera based on this.It will be to structure in explanation below
Optical depth camera and for being illustrated for structured light projecting device wherein, but it is not meant to this optical projection
Device is only capable of applying in depth camera, and every direct or indirect utilization program is intended to be included in this in any other device
In the range of invention.
Embodiment 1
A kind of schematic diagram of optical projection apparatus as shown in Figure 1, optical projection apparatus 100 include light source 101, lens 102,
Light-dividing device 103, pattern maker 104 and optical aperture 105.Wherein light source 101 is laser light source, the light beam of light source transmitting
110 are incident on after the collimation of lens 102 on light-dividing device 103, that is, are incident on spectroscopical light splitting surface, by spectroscopical anti-
It penetrates and light beam is divided into two beamlets by transmission effect：Reflected beamlet 111 and transmission beamlet 112.Respectively in beamlet institute
Light path on setting pattern maker 104 and optical aperture 105.Its pattern maker 104, specially diffraction optical element
(DOE), the effect of pattern maker is that beamlet is formed structure light light beam after diffraction and is emitted outward.In some applications
In, whether optical projection apparatus can control each DOE without emitting structural light outward simultaneously by optical aperture at this time
Outside emitting structural light light beam, optical aperture can also be used to control the transmitting field angle of each DOE, can also control to outgoing
The luminous flux penetrated.
Embodiment 1 is illustrated above, but the present embodiment there can also be the mode of some modifications, such as：Light source 101
Can be edge-emitting laser, vertical cavity surface emitting laser (VCSEL)；It is different according to demand, swashing for different wave length can be emitted
Light, such as infrared edge-emitting laser, infrared vertical cavity surface emitting laser etc.；Another light source can be single light source or light
Source array, array of source are arranged on a semiconductor substrate with certain pattern.For another example：Light-dividing device 103 can be spectroscope,
Can be prism, more typically any optical glass device of the plane acted on equipped with light splitting can, this plane is logical
It is often the form by plated film, the ratio for considering reflectivity and transmissivity is needed in plated film, wherein neutral light splitting surface is more
Common a kind of, i.e., the ratio of reflectivity and transmissivity is 1:1.
Embodiment 2
In embodiment 1, the light beam for collimated light source transmitting is arranged between light-dividing device and light source in lens 102, this
Kind of situation is using relatively broad, this is because the angle of departure of light source is generally large.The schematic diagram of another optical projection apparatus is such as
Shown in Fig. 2, lens 102 are arranged, for collimating each beamlet, this set is advantageous in that can be with position close DOE
The angle of divergence of each beamlet is controlled by the position of each lens so that the angle of divergence of each beamlet is identical or not phase
Together.Lens 102 can be ordinary lens, Fresnel lens or microlens array etc..
Embodiment 3
A kind of schematic diagram of optical projection apparatus using a face of prism as light splitting surface as shown in figure 3, realized point
Light function；On the corresponding surface parallel with light splitting surface, which is become by interior reflective surface 106 by plated film, thus can
By the guiding of beamlet 112 and 111 parallel launch of beamlet.In the present embodiment, two DOE are configured to emit outward different close
The structured light patterns of degree, the structure optical density projected such as the first DOE1041 is less than the 2nd DOE1042, it is possible thereby to realize this
Optical projection apparatus possesses different projection modes.
Reflecting surface 106 has the mode of some modifications, if reflecting surface is an individual speculum, is arranged in light-dividing device
After 103, for reflecting the beamlet through light-dividing device beam splitting.
When measuring object using structure light depth camera, if project high density structures light pattern to closer object,
It can make dim pattern, be not easy to the calculating of depth information, lead to have error generation.Therefore low density structures are projected to short distance
Light pattern, the selection for being relatively good to projecting high density structures light pattern at a distance.Therefore, when configured with the optical projection apparatus
Depth camera needs when being measured to the object of short distance, by close second optical aperture 1052 by open the first optics
Aperture 1051 projects the lower structured light patterns of density to realize to close-in target；On the contrary, when object being measured distance compared with
When remote, the second aperture 1052 is opened to realize that highdensity structured light patterns project by the first optical aperture 1051 of closing.
Embodiment 4
A kind of schematic diagram of optical projection apparatus as shown in figure 4, in the present embodiment, two optical apertures and DOE are adjacent,
It is arranged to realize the beam emissions of two DOE for the angle in two neighboring face on the penta prism of obtuse triangle by side
Field angle is adjacent.This situation expands the field angle of optical projection apparatus, and the image collector of wide-angle is possessed by being equipped with
The depth camera of big visual field can be formed by setting, and compared with traditional depth camera, this depth camera possesses nearly twice and regards
Rink corner, and to be far less than 2 times in the increase on hardware cost.Wherein, field angle can also have a little repetition or interval.
Using the depth camera of optical projection apparatus shown in the present embodiment, can be realized by the control of optical aperture
The depth survey of narrow/wide visual field.Specifically, the depth survey that wide visual field can be thus achieved in two optical apertures is opened simultaneously, and
Only open the depth survey that narrow visual field may be implemented in single optical aperture.
Embodiment 5
A kind of schematic diagram of optical projection apparatus is as shown in figure 5, in the present embodiment, using the five of acute triangle
Face body prism, two face angulations for being divided and reflecting are different from embodiment 4, and penta prism here makes two
The direction of the launch of a beamlet by this set on the contrary, make the optical projection apparatus has forward and backward simultaneously or independently to throw
The function of shadow.
The schematic diagram of the mobile phone shown in fig. 6 for being build-in depths camera according to the embodiment.Mobile phone 200 is built-in based on such as
The depth camera 201 of optical projection apparatus shown in fig. 5, this optical projection apparatus is respectively to mobile phone front and back projective structure
Light pattern 111 and 112.In addition to there is the image collecting device for collectively constituting depth camera therewith after optical projection apparatus, it is
It is not drawn in figure for the sake of clear.
At present since mobile phone is small, thickness is thin, the volume for the optical projection apparatus being placed into is also as small as possible, adopts
Use VCSEL array as laser light source, on the one hand because VCSEL array is small, on the other hand due to VCSEL array laser ratio
Relatively stablize, the variation fluctuation for being affected by temperature wavelength is smaller, therefore is built in the comparatively closed environment of interior of mobile phone
Have relatively stable output and longer service life.In addition, the forward and backward depth camera lens application set of mobile phone is usually different therefore right
The optical design output of front and rear should also have corresponding variation.The preposition depth camera of mobile phone can be used for carry out recognition of face,
The application of the short distances such as Expression Recognition, and directly being contacted with face, thus preposition optical projection structure light should possess it is weaker
Light intensity and relatively sparse pattern density；And mobile phone postposition depth camera can be used to carry out 3D scannings, modeling,
SLAM etc. is applied at a distance, therefore the optical projection structure light of postposition can possess relatively stronger light intensity and comparatively dense
Pattern density；The reflectivity that the distribution of wherein light intensity relies primarily on light splitting surface is realized with transmissivity ratio, and the pattern of structure light
Density is then realized by the setting of DOE.
Embodiment 6
Shown in Fig. 7 is the schematic diagram of another optical projection apparatus.With it is shown in fig. 5 similar, unlike by one
The light splitting surface and multiple reflectings surface that penta prism and hexahedron prism collectively constitute may be implemented preposition and postposition
Projection structure light beam is on the same axis.
Embodiment 7
Shown in Fig. 8 is the schematic diagram of another optical projection apparatus.Light source passes through two light splitting surfaces in the present embodiment
And emit 3 structured light patterns after a reflecting surface outward.May be implemented under the cooperation by optical aperture it is forward and backward set,
And wide, narrow visual field depth information measures.
Embodiment 8
Depth camera is mainly made of optical projection apparatus, image acquisition device and processing unit.Wherein optical projection mould
Group be embodiment 1-7 be described in detail can into space emitting structural light beam image, then can be with more by the guiding of optical element
A optical port projection structure light beam image into space.Image collecting device then is used for acquiring the structure of optical projection apparatus transmitting
Light image.Due to there is multiple structure light light beams here, image collecting device can also have it is multiple, such as Fig. 1,2,5,
7, for optical projection apparatus shown in 8, image collecting device at least two.And optical projection shown in Fig. 3,4 is filled
It sets, image collecting device may be single.
Depth camera further includes having controller, and in some cases, it is only necessary to the throwings using single optical port for depth camera
Shadow and Image Acquisition can be controlled using controller by the corresponding optical aperture of the optical port and corresponding Image Acquisition at this time
Device is opened, and other optical apertures are closed with image collecting device.Such as the depth phase using projection arrangement in Fig. 1-5,7,8
Machine can pass through and light splitting surface be arranged reflect and transmission proportion so that the beamlet of relatively high power realizes the long distance of depth camera
Measure, and lower-powered beamlet come realize depth camera low coverage measure.Depth camera relative to current single-mode
For, using the depth camera of this projection module combine varifocal or the big depth of field the acquisition camera so as to nearly, long distance
Depth camera is integrated in one, and more functions are realized with smaller cost.
In other situations, depth camera needs to open projection and the Image Acquisition of multiple optical ports simultaneously, at this time can be with
Multiple optical apertures and image collecting device are controlled using controller, and control hair is carried out with synchronous or certain sequential
It penetrates and Image Acquisition.
Such as optical projection apparatus shown in Fig. 3, two optical ports correspond to remote, close projection mode, respectively have respectively
One corresponding image collecting device.Controller is adopted with certain frequency interval control instant and near light projection and image
Collection can obtain corresponding remote, near field scape depth image respectively in this way.Utilize processing unit or upper software etc. logical later
It crosses image registration and the pixel of two image collecting devices is established into one-to-one relationship, depth information is then subjected to complementation, by
This, which can be obtained, possesses higher resolution and high accuracy depth image.
Such as optical projection apparatus shown in Fig. 4, two optical projection apparatus emitting structural light of controller synchronous control,
And the opposite image collecting device of synchronous control is acquired structure light image, it is possible thereby to which synchronous obtain the two of adjacent fields of view
Amplitude deepness image.Two amplitude deepness images are merged in such a way that processing unit or upper software etc. are by image integration later
Possess the depth image of bigger field angle at a width.In a particular application, adjacent visual field is often difficult to realize, two beamlets
The pattern beam generated by DOE often has overlapping, at this time can be by controlling optical aperture respectively with certain sequential
Emit pattern beam, the depth image of big visual field is generated finally by the mode that image synthesizes.Using optics as shown in Figure 4
Projection arrangement can realize the depth survey of narrow/wide visual field according to practical application request.
The above content is specific/preferred embodiment further description made for the present invention is combined, cannot recognize
The specific implementation of the fixed present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, some replacements or modification can also be made to the embodiment that these have been described,
And these are substituted or variant all shall be regarded as belonging to protection scope of the present invention.
Claims (19)
1. a kind of optical projection apparatus, which is characterized in that the optical projection apparatus includes：
Light source, including laser light source, for emitting light beam；
Light-dividing device, for receiving light beam that light source is emitted and being beamed into multiple beamlets；
Lens, for collimating the light beam or the beamlet；
Pattern maker, for receiving the multiple beamlet and outward emitting structural light beam pattern respectively.
2. optical projection apparatus as described in claim 1, which is characterized in that the light-dividing device includes spectroscope, prism, institute
State the reflected beamlet and transmission beamlet that beamlet includes reflex and transmission effect beam splitting through light-dividing device.
3. optical projection apparatus as described in claim 1, which is characterized in that the optical projection apparatus further includes：Reflection dress
It sets, the reflection unit is for reflecting at least one beamlet to change the direction of the launch of the beamlet.
4. optical projection apparatus as claimed in claim 3, which is characterized in that the light-dividing device is generated with the reflection unit
On the different surfaces of the same optical element.
5. optical projection apparatus as claimed in claim 3, which is characterized in that the light-dividing device and the reflection unit will be more
At least two beamlets in a beamlet emit in the opposite direction.
6. optical projection apparatus as described in claim 1, which is characterized in that the light source is VCSEL light source or VCSEL array
Light source.
7. optical projection apparatus as described in claim 1, which is characterized in that the pattern maker includes diffraction optics member
Part.
8. optical projection apparatus as described in claim 1, which is characterized in that the different pattern makers emits not outward
With the structure light beam pattern of density.
9. optical projection apparatus as described in claim 1, which is characterized in that at least two difference in the pattern maker
On the corresponding flat of the optical projection apparatus, emitting structural light pattern in a reverse direction.
10. optical projection apparatus as described in claim 1, which is characterized in that the different structure light beam patterns possess
Different light intensity.
11. optical projection apparatus as described in claim 1, which is characterized in that the optical projection apparatus further includes：Optical aperture
Diameter, the optical aperture correspond with pattern maker and for controlling the luminous flux that the beamlet emits outward.
12. a kind of depth camera, which is characterized in that the depth camera includes：
Optical projection apparatus as described in claim 1-11 is any, for multiple optical ports into space projection structure light beam
Image；
Image collecting device, for acquiring the structured light beam images in object space；
Processing unit receives the structured light beam images acquired by described image harvester and according to the structured bundle of light beams figure
Depth image as generating the object space.
13. depth camera as claimed in claim 12, which is characterized in that the quantity of described image harvester and the optical port
Quantity is consistent or is less than the optical port quantity；The processor is according to the relative position relation of described image collector by acquisition
Several described depth images corresponding with described image collector carry out being fused into a width overall depth image.
14. depth camera as claimed in claim 12, which is characterized in that the depth camera further includes controller, the control
Device processed is connected with optical aperture and image collecting device, the folding for controlling the optical aperture and correspondence image acquisition dress
It sets and whether carries out Image Acquisition, so that the depth camera acquires opposite depth image for specific application scenarios.
15. depth camera as claimed in claim 14, which is characterized in that the application scenarios include close, distance measuring pattern,
Under the close/distance measuring pattern, controller opens aperture and image acquisition device for close/distance measuring, closes other holes
Diameter and image acquisition device.
16. depth camera as claimed in claim 14, which is characterized in that the application scenarios include hybrid measurement pattern, institute
Mixing is stated away under measurement pattern, controller is opened with certain frequency interval and adopted for the aperture of close/distance measuring and image
Storage closes other apertures and image acquisition device.
17. depth camera as claimed in claim 14, which is characterized in that the application scenarios include narrow/wide visual field test mould
Formula, under the narrow/wide visual field measurement pattern, controller opens the aperture measured for narrow/wide visual field and image acquisition device, closes
Close other apertures and image acquisition device.
18. depth camera as claimed in claim 14, which is characterized in that the application scenarios include it is forward and backward set measurement pattern,
It is described it is front/rear set under measurement pattern, controller open be used for the front/rear aperture for setting measurement and image acquisition device, close other
Aperture and image acquisition device.
19. a kind of terminal, which is characterized in that the terminal includes the depth camera as described in claim 12-18 is any.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026347.7A CN106773489B (en) | 2017-01-13 | 2017-01-13 | A kind of optical projection apparatus and depth camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710026347.7A CN106773489B (en) | 2017-01-13 | 2017-01-13 | A kind of optical projection apparatus and depth camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106773489A CN106773489A (en) | 2017-05-31 |
| CN106773489B true CN106773489B (en) | 2018-08-14 |
Family
ID=58946732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710026347.7A Active CN106773489B (en) | 2017-01-13 | 2017-01-13 | A kind of optical projection apparatus and depth camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106773489B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107167996A (en) * | 2017-06-05 | 2017-09-15 | 深圳奥比中光科技有限公司 | The laser projection module and depth camera adaptively adjusted |
| CN107167997A (en) * | 2017-06-05 | 2017-09-15 | 深圳奥比中光科技有限公司 | Laser projection module and depth camera |
| CN107102506B (en) * | 2017-07-07 | 2022-08-02 | 奥比中光科技集团股份有限公司 | Optical projection device and depth camera thereof |
| CN109756725A (en) * | 2017-08-25 | 2019-05-14 | 华为技术有限公司 | Structured light projection device, three-dimensional camera mould group and terminal device |
| CN107589550A (en) * | 2017-10-11 | 2018-01-16 | 华天科技（昆山）电子有限公司 | Pupil multiplex optical structure |
| CN108337492B (en) * | 2018-01-15 | 2020-04-17 | 深圳奥比中光科技有限公司 | Dynamic projection imaging device |
| CN108594457A (en) * | 2018-04-03 | 2018-09-28 | Oppo广东移动通信有限公司 | Laser projecting apparatus, image acquiring device and electronic device |
| CN109143756A (en) * | 2018-09-08 | 2019-01-04 | 深圳阜时科技有限公司 | A kind of optical module, optical projection mould group, sensing device and equipment |
| CN111190323B (en) * | 2018-11-15 | 2022-05-13 | 中兴通讯股份有限公司 | Projector and terminal |
| CN109669271A (en) * | 2019-02-14 | 2019-04-23 | 杭州驭光光电科技有限公司 | Light splitting optical mould group and its manufacturing method |
| WO2020164346A1 (en) * | 2019-02-14 | 2020-08-20 | 杭州驭光光电科技有限公司 | Beam-splitting optical module and manufacturing method therefor |
| CN112073699B (en) * | 2019-06-11 | 2022-07-29 | 宁波舜宇车载光学技术有限公司 | Projection system and projection method thereof |
| CN110632769B (en) * | 2019-09-26 | 2023-02-24 | 达闼机器人股份有限公司 | Light spot projection device |
| US11639846B2 (en) * | 2019-09-27 | 2023-05-02 | Honeywell International Inc. | Dual-pattern optical 3D dimensioning |
| CN112782910B (en) * | 2019-11-08 | 2022-06-24 | 三赢科技（深圳）有限公司 | Structured light projection device |
| CN113866785B (en) * | 2021-08-19 | 2022-05-17 | 珠海视熙科技有限公司 | TOF camera light projection method, system and related device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0862722A (en) * | 1994-08-24 | 1996-03-08 | Hitachi Ltd | Electronic desk integrated with screen |
| WO2006103612A2 (en) * | 2005-03-30 | 2006-10-05 | Koninklijke Philips Electronics N. V. | Optical system with diffractive optical elements for mapping signal light onto a detector |
| JPWO2010125681A1 (en) * | 2009-04-30 | 2012-10-25 | Ｎｅｃディスプレイソリューションズ株式会社 | Projection display |
| US9784985B2 (en) * | 2011-10-24 | 2017-10-10 | 3M Innovative Properties Company | Titled dichroic polarizing beamsplitter |
| CN206411409U (en) * | 2017-01-13 | 2017-08-15 | 深圳奥比中光科技有限公司 | A kind of optical projection apparatus, depth camera and terminal |
-
2017
- 2017-01-13 CN CN201710026347.7A patent/CN106773489B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106773489A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106773489B (en) | A kind of optical projection apparatus and depth camera | |
| CN206411409U (en) | A kind of optical projection apparatus, depth camera and terminal | |
| JP7149256B2 (en) | Integrated illumination and detection for LIDAR-based 3D imaging | |
| JP5554459B2 (en) | Gimbal-type device with pre-placeable and replaceable optical bench | |
| US11067692B2 (en) | Detector for determining a position of at least one object | |
| US20190098280A1 (en) | Triangulation scanner and camera for augmented reality | |
| US4534637A (en) | Camera with active optical range finder | |
| CN109889809A (en) | Depth camera mould group, depth camera, depth picture capturing method and depth camera mould group forming method | |
| WO2018082184A1 (en) | Distance measurement method and device, camera, and mobile terminal | |
| JP2016510415A (en) | Multi-mode optical measuring instrument and operating method | |
| WO2020221185A1 (en) | Asynchronous tof discrete point cloud-based 3d imaging apparatus, and electronic device | |
| CN107783353A (en) | For catching the apparatus and system of stereopsis | |
| CN105182674B (en) | The special LASER Light Source of laser projection | |
| CN104251995A (en) | Three-dimensional color laser scanning technology | |
| CN104748720A (en) | Space angle measuring device and space angle measuring method | |
| CN112526489A (en) | Optical axis calibration system and method of laser range finder and laser parameter measurement method | |
| CN206920600U (en) | A kind of laser radar optical system | |
| CN208834323U (en) | 3D identifies mould group, 3D identification device and intelligent terminal | |
| US20240127566A1 (en) | Photography apparatus and method, electronic device, and storage medium | |
| CN108803067A (en) | A kind of optical depth camera and its signal optical source processing method | |
| CN111896934B (en) | MEMS laser radar receiving system and method | |
| US11276986B2 (en) | Photo-sensing reflectors for compact display module assembly comprising a reflective coating on a light receiving surface of a reflective photodiode | |
| CN110969069A (en) | 3D identification module, 3D identification device and intelligent terminal | |
| JP2016212098A (en) | Scanner tracker composite device including focus adjustment mechanism | |
| TWI630431B (en) | Device and system for capturing 3-d images |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: A808, Zhongdi building, industry university research base, China University of Geosciences, No.8, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Obi Zhongguang Technology Group Co., Ltd Address before: A808, Zhongdi building, industry university research base, China University of Geosciences, No.8, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN ORBBEC Co.,Ltd. |